there are 3 steps to solve these problems: 1. Firstly, please eliminate the interference of plasma. You can try to move the machine by hand in both X Y axis without any program. 2. Secondly, handholder formatting. 3. Urgency restore handholder, please refer to video address for detailed instructions. The ftp address is: ftp://client_t@210.51.10.106:8012/legend-Emergency-Undelete.rar